I'm trying to control my AR Drone 2.0 using ROS and my problem is that, in real life, it makes some unpredictable movements that I can't control. For example, it has a height stabilizer that makes the takeoff be really easy, but it also makes the drone to make some movements when I place my hand below, or when I move a sheet under it.

So, for example, I'm trying to make my drone get close to a predefined pattern that is on the floor. The quadcopter starts perfect, moving where I need it to move, but then it makes an awful movement and goes anywhere.